Vibration felt through steering wheel and passenger footwell, increases with speed, tyre pressure is correct and wheels are balanced and no damage, is it brake discs, had vehicle since 40000, and hae ot had brake discs changed yet
Warped rotor usually won't be felt in the floor and not when you're not braking. If the problem is worse under moderate acceleration and goes away when cruising or coasting, suspect a worn inner cv joint housing. Also have the tires checked for a broken belt. That can't be seen easily on a wheel balancer unless the mechanic knows to look for it under the protective hood.